Retroreflectors

ABSTRACT

A retroreflector system including an outer body panel coupled to a vehicle, wherein the outer body panel is configured to allow a radar signal originating from an external radar device to pass through the outer body panel. The retroreflector system also includes a plurality of retroreflectors embedded in the vehicle, where the plurality of retroreflectors is configured to reflect the signal to the external signal source as a reflected signal, and where the plurality of retroreflectors is configured to have a peak reflectivity for a radar wavelength range or a light detection and ranging (lidar) wavelength range.

This application is a divisional of U.S. patent application Ser. No.15/709,442, filed Sep. 19, 2017, which claims benefit of priority toU.S. Provisional Application No. 62/397,001, filed Sep. 20, 2016, whichare hereby incorporated by reference in their entirety.

BACKGROUND

Visibility of vehicles on the road is paramount to safety of drivers. Inlow visibility conditions (e.g., fog, dust, snow or smog), a driver'sinability to see other vehicles or road hazards increases the risk of acollision. Vehicles can mitigate the risk of collision by utilizingadditional systems such as radar systems, vision-based cameras and lightdetection and ranging (LiDAR) cameras. Certain road or weatherconditions can affect the effectiveness of these systems, such as watervapor absorbing or scattering light, thereby reducing proper detectionof vehicles. The effectiveness of these systems can be improved byimproving detectability of the vehicles.

SUMMARY

A retroreflector system that includes a plurality of retroreflectors isdisclosed herein. The plurality of retroreflectors is configured toreflect a radar signal, a light, a lidar signal, or any other type ofsignal to a respective signal source. The plurality of retroreflectorsmay be at least partially embedded in an outer body panel of a vehicle.The outer body panel is configured to allow the radar signal to passthrough to the plurality of retroreflectors.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a schematic diagram of a plurality of retroreflectorsconfigured to reflect a signal.

FIG. 2 illustrates a plurality of retroreflectors configured to reflecta signal in low visibility conditions.

FIGS. 3a-b illustrate block diagrams of a vehicle having a pattern of aplurality of retroreflectors detectable from multiple angles.

FIG. 4 illustrates a schematic diagram of a plurality of retroreflectorsembedded in a bumper assembly of a vehicle.

FIG. 5 illustrates a schematic diagram of a retroreflector system havingan inner body panel and an outer body panel coupled to molded lenses.

FIG. 6 illustrates a schematic diagram of a plurality of retroreflectorsembedded in an outer body panel configured to reflect a signal withrefractive spheres.

FIG. 7 illustrates an example computer system configured to implementone or more portions of a detection system, according to someembodiments.

DETAILED DESCRIPTION

This specification includes references to “one embodiment” or “anembodiment.” The appearances of the phrases “in one embodiment” or “inan embodiment” do not necessarily refer to the same embodiment.Particular features, structures, or characteristics may be combined inany suitable manner consistent with this disclosure.

“Comprising.” This term is open-ended. As used in the appended claims,this term does not foreclose additional structure or steps. Consider aclaim that recites: “An apparatus comprising one or more processor units. . . ” Such a claim does not foreclose the apparatus from includingadditional components (e.g., a network interface unit, graphicscircuitry, etc.).

“Configured To.” Various units, circuits, or other components may bedescribed or claimed as “configured to” perform a task or tasks. In suchcontexts, “configured to” is used to connote structure by indicatingthat the units/circuits/components include structure (e.g., circuitry)that performs those task or tasks during operation. As such, theunit/circuit/component can be said to be configured to perform the taskeven when the specified unit/circuit/component is not currentlyoperational (e.g., is not on). The units/circuits/components used withthe “configured to” language include hardware—for example, circuits,memory storing program instructions executable to implement theoperation, etc. Reciting that a unit/circuit/component is “configuredto” perform one or more tasks is expressly intended not to invoke 35U.S.C. § 112, sixth paragraph, for that unit/circuit/component.Additionally, “configured to” can include generic structure (e.g.,generic circuitry) that is manipulated by software and/or firmware(e.g., an FPGA or a general-purpose processor executing software) tooperate in manner that is capable of performing the task(s) at issue.“Configure to” may also include adapting a manufacturing process (e.g.,a semiconductor fabrication facility) to fabricate devices (e.g.,integrated circuits) that are adapted to implement or perform one ormore tasks.

“First,” “Second,” etc. As used herein, these terms are used as labelsfor nouns that they precede, and do not imply any type of ordering(e.g., spatial, temporal, logical, etc.). For example, a buffer circuitmay be described herein as performing write operations for “first” and“second” values. The terms “first” and “second” do not necessarily implythat the first value must be written before the second value.

“Based On.” As used herein, this term is used to describe one or morefactors that affect a determination. This term does not forecloseadditional factors that may affect a determination. That is, adetermination may be solely based on those factors or based, at least inpart, on those factors. Consider the phrase “determine A based on B.”While in this case, B is a factor that affects the determination of A,such a phrase does not foreclose the determination of A from also beingbased on C. In other instances, A may be determined based solely on B.

FIG. 1 illustrates a schematic diagram of a retroreflector system 100,which may include an outer body panel 102 and a plurality ofretroreflectors 104. The outer body panel 102 may be coupled to orembedded in a vehicle 110. The plurality of retroreflectors 104 may beat least partially embedded in the outer body panel 102. The pluralityof retroreflectors 104 may alternatively be fully embedded in anassembly positioned behind the outer body panel 102. The plurality ofretroreflectors 104 may be configured to reflect a signal 124 from asignal source 122, such as another vehicle 120. In some embodiments, thesignal source 122 may include a radar transmitter. In other embodiments,the signal source 122 may include a light ranging and detection (lidar)transmitter. The plurality of retroreflectors 104 may be configured tohave a peak reflectivity for a radar wavelength range (e.g., 0.3-200 cm)or a lidar wavelength range (e.g., 780-1550 nm). In some embodiments,the retroreflector system 100 may be integral to the vehicle 110. Inother embodiments, the retroreflector system 100 may be affixed to thevehicle 110 by an adhesive surface configured to adhere to the vehicle110 at one or more locations. For example, the retroreflector system 100may include an adhesive that may be used to affix the retroreflectorsystem 100 to a bumper and/or a side portion of the vehicle 110.

In some embodiments, the retroreflector system 100 may be configured toreflect signals from all angles around the vehicle 110. For example, theretroreflector system 100 may have a spherical or round outer bodyportion 102 and a plurality of retroreflectors 104 arranged in a similarspherical or round orientation such that at least one retroreflector ofthe plurality of retroreflectors 104 may reflect the signal 124irrespective to a position of the signal source 122 relative to thevehicle 110.

One or more of the plurality of retroreflectors 104 may be positioned inone or more locations around the vehicle 110 to improve non-opticalvisibility (e.g., radar or lidar visibility) to other vehicles, such asthe vehicle 120. For example, a first subset of the plurality ofretroreflectors 104 may be placed at a rear bumper of the vehicle 110. Asecond subset of the plurality of retroreflectors 104 may be placed at afront bumper of the vehicle 110. A third subset of the plurality ofretroreflectors 104 may be placed at one or more sides of the vehicle110. In another embodiment, the plurality of retroreflectors 104 may beplaced in an elevated position, such as on a roof of the vehicle 110.

The outer body panel 102 may be configured to allow the signal 124 topass through to the plurality of retroreflectors 104 with little to nodisruption or distortion of the signal 124. The outer body panel 102 maybe constructed or formed from a non-conductive material configured tominimize radio frequency or radar signal absorption. By minimizingabsorption, the non-conductive material may effectively be transparentto the radio frequency or radar signal. Thus, the radio frequency orradar signal may pass through the non-conductive material with minimaldegradation. The non-conductive material may be acrylonitrile butadienestyrene (ABS) plastic, polythene plastic, polyethylene plastic,polystyrene plastic, polyvinyl chloride plastic, a thermoplasticpolymer, acrylic plastic, glass, or any combination thereof. In someembodiments, the outer body panel 104 may include a radar transparentfairing configured to be transparent to radio frequency or radarsignals. The fairing may allow clean integration with a design or layoutof the vehicle.

The signal 124 may include a radio detection and ranging (radar) signal,a light radar or light detection and ranging (lidar) signal, or anyother type of signal. For example, the radar signal may include a radiofrequency signal that is invisible to optical sensors or human vision.The lidar signal may include a near-infrared light signal that issubstantially invisible to human vision while being detectable byoptical sensors. The lidar signal may have a wavelength of approximately780-1550 nm. The signal 124 may be sent from the signal source 122 todetect presence of objects, such as the vehicle 110. For example, aradar signal may be used by the vehicle 120 to detect the vehicle 110 insituations of low visibility. The vehicle 120 may be configured todetermine a distance between the vehicle 120 and the vehicle 110 basedon the signal 124 and the reflected signal 126. For example, the vehicle120 may determine a distance traveled by the signal 124 and thereflected signal 126. The vehicle 120 may also determine a time fromwhen the signal 124 is sent from the signal source 122 to when thereflected signal 126 is received by a signal sensor 128. In someembodiments, the signal sensor 128 may be integrated with the signalsource 122. In other embodiments, the signal sensor 128 may beintegrated with the vehicle 120 at a location different from the signalsource 122. In some embodiments, the signal sensor 128 may be coupled toa plurality of retroreflectors to operate on two different wavelengths(e.g., radar and lidar wavelengths).

The plurality of retroreflectors 104 may be configured to reflect thesignal 124 as a reflected signal 126. In some embodiments, the pluralityof retroreflectors 104 may include a plurality of corner-cube reflectorsconfigured to direct the reflected signal 126 in a direction that thesignal 124 originated (e.g., toward the signal source 122). Visibilityof the vehicle 110 by the vehicle 120 is improved when signals, such asthe signal 124, sent from the vehicle 120 are reflected by the vehicle110 as the reflected signal 126. The signal sensor 128 may receive ordetect the reflected signal 126 after being reflected by the vehicle110. In some embodiments, the plurality of retroreflectors 104 may beconfigured to append additional information to the signal 124 such thatthe reflected signal 126 includes the additional information, asdescribed herein.

A corner-cube reflector may be formed by arranging a set of surfaces toform a corner of a cube. The set of surfaces may be perpendicular withrespect to each of the surfaces. In some embodiments, three surfaces areused to form each corner-cube retroreflector. In other embodiments, thecorner of the cube may be molded or shaped from a reflective material.The signal 124 may hit a first surface of the corner-cube reflector suchthat the signal 124 is reflected toward a second surface of thecorner-cube reflector at a supplementary angle (i.e., an angle thatwould add up to 180° with another angle). For example, the signal 124may hit the first surface at a first inward angle of 30° and bereflected toward the second surface at a first outward angle of 150°relative to the first surface. The signal 124 may be reflected to thesecond surface at a second inward angle based on the first outwardangle. The signal 124 may be reflected from the second surface toward athird surface of the corner-cube reflector at a second outward anglethat corresponds to another supplementary angle based on the secondinward angle, which may be based on the first outward angle. The signal124 may then be reflected from the third surface as the reflected signal126 toward the signal source 122 at a third outward angle that issubstantially similar to the first inward angle. In other words, thesignal 124 sent from the signal source 122 is substantially parallel tothe reflected signal 126.

The plurality of retroreflectors 104 may be configured to reflect thesignal 124 differently based on the first inward angle in which thesignal 124 approaches the plurality of retroreflectors 104. In someembodiments, the plurality of retroreflectors 104 may include awavelength-dependent function may affect luminosity of the reflectedsignal 126 based on the inward angle. For example, the reflected signal126 may be dimmer than the signal 124 when the inward angle exceeds athreshold angle. As described herein, the plurality of retroreflectors104 may be configured to append data to the reflected signal 126. Theplurality of retroreflectors 104 may alter or modify the appended databased on the inward angle. For example, the appended data may includeinformation identifying the inward angle.

In some embodiments, the plurality of retroreflectors 104 may includeone or more modulators configured to modulate the signal 124 received byat least one of the plurality of retroreflectors 104. Modulation mayinclude adding a new signal (e.g., a digital bit stream or an analogsignal) into an existing signal. In some embodiments, the one or moremodulators may include one or more microelectromechanical systems (MEMS)configured to actively modulate the plurality of retroreflectors 104 toencode information to the signal 124 while minimizing power consumptionfor the encoding process. For example, the one or more MEMS may beconfigured to cause the plurality of retroreflectors to encodeadditional information in the reflected signal 126. In otherembodiments, the one or more modulators may include active electricallycontrollable absorbers. For example, the active electricallycontrollable absorbers may be configured to absorb at least a portion ofthe signal 124 to affect the reflected signal 126. In some embodiments,the active electrically controllable absorbers may be controlled by oneor more control elements to absorb or reduce reflectivity of the signal124.

The plurality of retroreflectors 104 may be arranged in a particularpattern to convey information about the vehicle 110. In someembodiments, the plurality of retroreflectors 104 may have a firstsubset of retroreflectors enabled and a second subset of retroreflectorsdisabled. The arrangement of the first subset of retroreflectors and thesecond subset of retroreflectors may be similar to a one-dimensionalbarcode or two-dimensional barcode (e.g., a quick response or QR code).The vehicle 120 may read the barcode from the plurality ofretroreflectors 104 on the vehicle 110 and search a database based onthe barcode to retrieve information about the vehicle 110.

The plurality of retroreflectors 104 may be deployed or activated in alow visibility condition 140. For example, the low visibility condition140 may include at least rain, fog, snow, dust storms, nighttime, or anycondition where optical visibility is impaired. The vehicle 110 mayinclude one or more environmental sensors configured to determinewhether the low visibility condition 140 is present. Based on adetermination that the low visibility condition 140 is present, thevehicle 110 may deploy the plurality of retroreflectors 104. In otherembodiments, the plurality of retroreflectors 104 may be persistentlydeployed such that the plurality of retroreflectors 104 may reflectsignals at all times.

The low visibility condition 140 may cause the signal 124 to beobstructed, diffused or otherwise degraded from reaching the vehicle210. For example, when the low visibility condition 140 includes fog,the fog may cause a lidar signal or a visible light to diffuse andbecome unable to identify or illuminate the vehicle 110. However, thesignal 124 may include a radar signal capable in reaching the vehicle110. The radar signal may be configured at a wavelength such that thefog is effectively transparent to the signal 124.

The retroreflector system 100 may be integrated with a lighting systemof the vehicle, in some embodiments. The lighting system may be aheadlight assembly or a taillight assembly. The outer body panel 102 maybe formed out of a clear or colored plastic material such that thelighting system may shine light through the outer body panel 102 at aparticular color. The plurality of retroreflectors 104 may be adjustedbased on its refractive index to better reflect radar signals than aplurality of optical reflectors. The plurality of optical reflectors areembedded in the lighting system and configured to reflect light from alight source of the vehicle in an outward direction. The plurality ofoptical reflectors may also be configured to reflect light from externallight sources, such as other vehicles, to allow optical visibility ofthe vehicle 110 in situations where the light source is disabled orturned off. For example, the plurality of optical reflectors may includemirrors positioned proximate to lights on the vehicle 110 (e.g.,headlights or taillights) or along sides of the vehicle 110 (e.g., alongthe bumper). In some embodiments, the plurality of retroreflectors 104configured to reflect the signal 124, such as a radar signal, may bepositioned behind the plurality of optical reflectors. For example, theplurality of optical reflectors may be positioned proximate to ataillight, and the plurality of retroreflectors 104 may be positionedwithin a body of the vehicle behind the plurality of optical reflectorssuch that the plurality of retroreflectors 104 are not visible throughthe plurality of optical reflectors. A light may reflect off of theplurality of optical reflectors without being able to reach or bereflected by the plurality of retroreflectors 104. The plurality ofoptical reflectors may be constructed from a non-conductive material,such as glass or plastics, as described herein, such that the signal 124may pass through the plurality of optical reflectors to reach theplurality of retroreflectors 104.

The plurality of retroreflectors 104 may be included in a license platecoupled to the vehicle 110, in some embodiments. The plurality ofretroreflectors 104 may be arranged to convey information about thevehicle 110 to outside entities, such as the vehicle 120. For example,the plurality of retroreflectors 104 may be configured to reflect thesignal 124 at portions of the license plate where text is present and toabsorb the signal 124 at portions of the license plate where text is notpresent. Alternatively, the plurality of retroreflectors 104 may beconfigured to append or encode a bit pattern in the signal 124 based ona standing wave interference pattern. For example, the plurality ofretroreflectors 104 may include an interference pattern that addsinformation to the signal 124 to generate the reflected signal 126 thatincludes the information. In some embodiments, the plurality ofretroreflectors 104 may be coupled to an optical element configured toencode the data to the reflected signal 126. For example, the opticalelement may include a liquid crystal display configurable to be switchedon and off to pass bit information to the plurality of retroreflectors104.

The signal source 122 may be included in a road infrastructure, a roadsign, a streetlight, or any other landmark or device that is spatiallyaware, in some embodiments. For example, the road infrastructure maysend out a signal 124 to detect the vehicle 110 driving along a road.The road infrastructure may be configured to perform analysis or someaction based on detecting the vehicle 110. The road infrastructure mayactivate a road safety feature based on the vehicle 110 being present,such as enabling a warning light to warn the vehicle 110 about anupcoming road hazard.

In other embodiments, the outer body panel 102 and the plurality ofretroreflectors 104 may be included in a road infrastructure, a roadsign, a streetlight, or any other landmark or device that the vehicle120 may need to detect for safety. The vehicle 120 may send a signal 124to detect the presence of a road sign that may indicate an upcoming roadhazard or turn in the road. For example, a driver of the vehicle 120 mayhave low optical visibility of the road sign, whereas a radar system ofthe vehicle 120 may not be limited by optical visibility of obstacles orlandmarks proximate to the vehicle 120.

In embodiments where the signal 124 is a lidar signal (e.g., anear-infrared light-based signal), the outer body panel 102 may beoptically transparent such that the signal 124 passes through the outerbody panel 102 to the plurality of retroreflectors 104 without signaldegradation due to the outer body panel 102. In other embodiments, theouter body panel 102 may include laser-drilled micro-perforations suchthat the signal 124 passes through the micro-perforations. The signal124 may pass through the micro-perforations in embodiments where theouter body panel 102 is a material that would prevent the signal 124from passing through to the plurality of retroreflectors 104. Forexample, the outer body panel 102 may be an opaque material thatprevents a signal 124 (e.g., a lidar signal) from passing through to theplurality of retroreflectors 104. However, the signal 124 may passthrough the outer body panel 102 via the micro-perforations such thatthe signal 124 may be reflected by the plurality of retroreflectors 104.The reflected signal 126 may pass through the outer body panel 102 viathe micro-perforations after being reflected by the plurality ofretroreflectors 104.

In some embodiments, the micro-perforations may be filled withpre-formed transparent plastic stakes to seal the micro-perforationswhile allowing the signal 124 to pass through without degradation.Alternatively, the micro-perforations may have a thermoplastic or athermoformed optical-grade polymer injected during manufacturing of theouter body panel 102. The plurality of retroreflectors 104 may bedirectly coupled to the polymer such that an inner edge of the polymermay include at least a subset of the plurality of retroreflectors 104.

FIG. 2 illustrates a retroreflector system 200 having a road sign 210configured to provide information to a vehicle 220. The retroreflectorsystem 200 may include an outer body panel 202 and a plurality ofretroreflectors 204. The outer body panel 202 may be coupled to orembedded in a landmark, such as a road sign 210. The plurality ofretroreflectors 204 may be at least partially embedded in the outer bodypanel 202. The plurality of retroreflectors 204 may alternatively befully embedded in an assembly positioned behind the outer body panel202. The plurality of retroreflectors 204 may be configured to reflect asignal 224 from a signal source 222, such as a vehicle 220.

The road sign 210 may include text 212 that indicates information thatis useful to drivers, the information including, but not limited to, aspeed limit, a stop sign, an advisory sign, a road condition warning, adistance marker, a restriction warning, a direction indicator, a streetname, a route marker, a road identifier, a parking zone marker, aninterest landmark, an emergency warning, a crosswalk sign, a school zonemarker, a wildlife indicator, or any combination thereof. In someembodiments, the signal source 222 may include an optical sensor, suchas a camera, to read the text 212 on the road sign 210. However, thecamera may not be able to read the text 212 when a low visibilitycondition 240, such as fog, rain, snow, ice, nighttime, dirt, mud, adust storm, haze, smog or any other visibly obstructive condition.

The signal source 222 may include a radar device configured to emit thesignal 224. The signal 224 may include a radar signal which may includea radio frequency component. The low visibility condition 240 may betransparent to the radar signal based on the radio frequency componentbeing configured to permeate physical or visual obstructions with littleto no signal degradation.

The plurality of retroreflectors 204 may be configured with a standingwave interference pattern. The standing wave interference pattern may beshaped or controlled. For example, the standing wave interferencepattern may be encoded to transmit a bit pattern that may indicate thetext 212 on the road sign 210. The plurality of retroreflectors 204 mayalso be configured in a pattern such that a first subset of theplurality of retroreflectors 204 are enabled (e.g., configured toreflect the signal 224) while a second subset of the plurality ofretroreflectors 204 are disabled (e.g., configured to not reflect thesignal 224). In some embodiments, the first subset may correspond to thetext 212 such that retroreflectors beneath the text 212 are enabled, andthe second subset may correspond to white space on the road sign 210 aredisabled. Thus, the first subset may permit the signal 224 to bereflected only in portions where the text 212 is physically present toallow the shape and pattern of the text 212 to be visible to the vehicle220 even in a low visibility condition 240. A representation of the text212 as reflected by the signal 224 on the plurality of retroreflectors204 may be rendered by the vehicle 220 and displayed to a passenger on adisplay device. In some embodiments, the vehicle 220 may determine whatthe text 212 says using optical character recognition to identify thetext 212 based on the reflected signal 226.

FIGS. 3a-b illustrate block diagrams of a vehicle 300 having a pattern304 a-b of a plurality of retroreflectors 306 a-b as viewed frommultiple angles 300 a and 300 b. FIG. 3a illustrates a first perspectiveview or a forward view 300 a of a side of the vehicle 300, and FIG. 3billustrates a second perspective view or a skewed view 300 b of the sideof the vehicle 300.

The pattern 304 a-b of the plurality of retroreflectors 306 a-b may bearranged and configured to identify the vehicle 300. In someembodiments, the pattern 304 a-b may identify a particular side of thevehicle. Each reflector of the plurality of retroreflectors 306 a-b maybe a cluster of retroreflectors. The pluralities of reflectors 306 a-bmay include retroreflectors configured to reflect a signal from a signalsource.

Each reflector or cluster of reflectors of the plurality ofretroreflectors 306 a-b may be positioned with space between each otherreflector or cluster to improve visibility at long distances. Forexample, another vehicle may include one or more sensors configured toemit a signal to detect nearby obstacles, including the vehicle 300. Thespace between each cluster of reflectors may allow the one or moresensors of the other vehicle to distinguish between individual clusters.At longer distances, the relative space between each cluster is smallerfrom a perspective of the other vehicle. The one or more sensors mayhave a density of lidar signals that is greater than a density of thepatterns 304 a-b. In some embodiments, the pluralities of reflectors 306a-b may include extents to contain the reflectors 306 a-c at outsidecorners of the vehicle 300 in order to provide object size sensing.

When the other vehicle has the skewed view 300 b of the vehicle 300, anangle of illumination of the plurality of retroreflectors 306 b maybehave like a mirror. For example, a refractive index of the pluralityof retroreflectors 306 b may change with the angle of reflectivity.Based on the change of illumination or refractive index of a reflectedsignal, the other vehicle may determine a relative angle or parallax ofthe vehicle 300. In some embodiments, the plurality of retroreflectors306 b may include additional coding to indicate an angle at which thesignal is reflected to or from. Such coding may be achieved by aninterference pattern or a standing wave interference pattern, asdescribed herein. In some embodiments, the other vehicle may detect thatthe relative spacing between each retroreflector of the plurality ofretroreflectors 306 b is different with respect to otherretroreflectors. For example, the other vehicle may detect that arelative distance between a left retroreflector and a centerretroreflector is greater than a relative distance between a rightretroreflector and the center retroreflector. Supposing that therelative distances are designed to be equivalent, it can be calculatedthat the left retroreflector has a skewed angle relative to the rightretroreflector. The relative distances may also be used to determine adistance to the vehicle 300 from the signal source (e.g., anothervehicle). For example, a scale of the distance compared to an expecteddistance may indicate that the vehicle 300 is a proportional distanceaway from the other vehicle.

As illustrated in FIG. 4, the retroreflector system 400 mayalternatively be integrated in a bumper assembly of a vehicle. The outerbody panel 402 may be coupled to the bumper assembly or embedded in anouter surface of the bumper assembly. For example, the outer body panel402 may be integral to the bumper assembly such that it may be the outersurface of the bumper assembly. The plurality of retroreflectors 404 maybe embedded in an internal portion of the bumper assembly. The internalportion of the bumper assembly may include an impact absorber 406. Theimpact absorber may be constructed from a material configured to beflexible in the event of an impact, such as foam or plastic. In someembodiments, the plurality of retroreflectors 404 may be disposed orembedded in the impact absorber during manufacturing of the impactabsorber. In other embodiments, the plurality of retroreflectors 404 maybe inserted into the impact absorber after the impact absorber isconstructed. For example, the plurality of retroreflectors 404 may beadded to the bumper assembly after the vehicle is assembled (e.g., anaftermarket modification). The plurality of retroreflectors 404 may beconfigured to not be optically visible outside of the vehicle whendisposed or inserted into the impact absorber 406 because of the opacityof the impact absorber 406 and the outer body panel 402. For example,the impact absorber 406 and the outer body panel 402 may be constructedfrom an opaque material such that the plurality of retroreflectors 404are obscured from a viewing perspective looking onto the vehicle 410.

FIG. 5 illustrates a retroreflector system 500 including an outer bodypanel 502 and an inner body panel 506 according to some embodiments. Theouter body panel 502 may be coupled to or embedded in a vehicle 510. Theouter body panel 502 may be coupled to a plurality of lenses 504. In aparticular embodiment, the plurality of lenses 504 may be a back portionof the outer body panel 502. In another embodiment, the plurality oflenses 504 may be attached to the outer body panel 502. Theretroreflector system 500 may also be referred to as a cats-eyeretroreflector system.

The outer body panel 502 may be configured to allow a signal 524 from asignal source 522 to pass through to the plurality of lenses 504 withlittle to no disruption or distortion of the signal 524. In someembodiments, the signal source 522 may be another vehicle 520. The outerbody panel 502 may be formed from a non-conductive material (e.g., adielectric material) configured to minimize radio frequency or radarsignal absorption for improved signal pass-through. The non-conductivematerial may be acrylonitrile butadiene styrene (ABS) plastic, polytheneplastic, polyethylene plastic, polystyrene plastic, polyvinyl chlorideplastic, a thermoplastic polymer, acrylic plastic, glass, or anycombination thereof. The inner body panel 506 may be a reflectivesurface. In some embodiments, the inner body panel 506 may be formedfrom a metallic alloy. In other embodiments, the inner body panel 506may be a rigid material covered by a conductive coating. For example,the inner body panel 506 may be formed from a plastic material that iscovered by a metallic, conductive surface.

The plurality of lenses 504 may be molded to be convex lenses such thata convex lens 504 a of the plurality of lenses 504 may have a focalpoint 508 located on the inner body panel 506. For example, the signal524 may approach the convex lens 504 a at a first inward angle. Theconvex lens 504 a may cause the signal 524 to be directed to the focalpoint 508 at a first outward angle. In some embodiments, the convex lens504 may cause all incoming signals to be directed to the focal point 508regardless of corresponding inward angles. After directed by the convexlens, the signal 524 may approach the inner body panel at a secondinward angle. The inner body panel 506 may be configured to create areflected signal 526 by reflecting the signal 524 at a first outwardangle such that the first outward angle and the second inward angle addup to 180° (e.g., a supplementary angle with respect to the secondinward angle). The convex lens 504 a may refract the reflected signal526 at a second outward angle that is substantially similar to the firstinward angle. In other words, the signal 526 is substantially parallelto the reflected signal 526 traveling toward the signal source 522.

FIG. 6 illustrates a retroreflector system 600 including an outer bodypanel 602 and a plurality of refractive spheres 604 according to someembodiments. The outer body panel 602 may be coupled to or embedded in avehicle 610. Each of the plurality of refractive spheres 604 may be atleast partially embedded in the outer body panel 602. The plurality ofrefractive spheres 604 may be configured to reflect a signal 624 from asignal source 622 (e.g., a vehicle 620).

The outer body panel may include a plurality of extrusions 606configured to house the plurality of refractive spheres 604. Eachextrusion of the plurality of extrusions 603 may be at least partiallyrounded to accommodate a spherical shape corresponding to a refractivesphere of the plurality of refractive spheres 604. An extrusion may havean outer opening 605 configured to partially expose a portion of arefractive sphere through the outer body panel 602. The plurality ofrefractive spheres 604 may be bonded into the plurality of extrusions603 to set the plurality of refractive spheres 604 in fixed positions.Each extrusion may have a depth where the depth may affect an acceptanceangle that may cause the refractive sphere to actively reflect thesignal 624 at near-normal incidence (e.g., level with the outer opening605).

The plurality of refractive spheres 604 may be formed from a glassmaterial or an optical grade polymer. Each refractive sphere of theplurality of refractive spheres may include a reflective layer 606configured to reflect the signal 624 to the signal source 622 as areflected signal 626. In some embodiments, the reflective layer 606 maybe formed from a metallic alloy. In other embodiments, the reflectivelayer 606 may be a rigid material covered by a conductive coating. Forexample, the reflective layer 606 may be formed from a plastic materialthat is covered by a metallic, conductive surface. The reflective layer606 may be coupled to the refractive sphere in situ (e.g., after settingthe refractive sphere in an extrusion). Alternatively, the reflectivelayer 606 may be coupled to the refractive sphere prior to setting therefractive sphere in the extrusion.

FIG. 7 illustrates an example computer system 700 that may be configuredto include or execute any or all of the embodiments described above. Indifferent embodiments, computer system 700 may be any of various typesof devices, including, but not limited to, a personal computer system,desktop computer, laptop, notebook, tablet, slate, pad, or netbookcomputer, cell phone, smartphone, PDA, portable media device, mainframecomputer system, handheld computer, workstation, network computer, acamera or video camera, a set top box, a mobile device, a consumerdevice, video game console, handheld video game device, applicationserver, storage device, a television, a video recording device, aperipheral device such as a switch, modem, router, or in general anytype of computing or electronic device.

Various embodiments of an audio communication system, talker feedbacksystem, some combination thereof, etc., as described herein, may beexecuted in one or more computer systems 700, which may interact withvarious other devices. Note that any component, action, or functionalitydescribed above with respect to FIGS. 1 through 6 may be implemented onone or more computers configured as computer system 700 of FIG. 7,according to various embodiments. In the illustrated embodiment,computer system 700 includes one or more processors 710 coupled to asystem memory 720 via an input/output (I/O) interface 730. Computersystem 700 further includes a network interface 740 coupled to I/Ointerface 730, and one or more input/output devices, which can includeone or more user interface (also referred to as “input interface”)devices. In some cases, it is contemplated that embodiments may beimplemented using a single instance of computer system 700, while inother embodiments multiple such systems, or multiple nodes making upcomputer system 700, may be configured to host different portions orinstances of embodiments. For example, in one embodiment some elementsmay be implemented via one or more nodes of computer system 700 that aredistinct from those nodes implementing other elements.

In various embodiments, computer system 700 may be a uniprocessor systemincluding one processor 710, or a multiprocessor system includingseveral processors 710 (e.g., two, four, eight, or another suitablenumber). Processors 710 may be any suitable processor capable ofexecuting instructions. For example, in various embodiments processors710 may be general-purpose or embedded processors implementing any of avariety of instruction set architectures (ISAs), such as the x86,PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. Inmultiprocessor systems, each of processors 710 may commonly, but notnecessarily, implement the same ISA.

System memory 720 may be configured to store program instructions, data,etc. accessible by processor 710. In various embodiments, system memory720 may be implemented using any suitable memory technology, such asstatic random access memory (SRAM), synchronous dynamic RAM (SDRAM),nonvolatile/Flash-type memory, or any other type of memory. In theillustrated embodiment, program instructions included in memory 720 maybe configured to implement some or all of an ANS, incorporating any ofthe functionality described above. Additionally, existing control dataof memory 720 may include any of the information or data structuresdescribed above. In some embodiments, program instructions and/or datamay be received, sent or stored upon different types ofcomputer-accessible media or on similar media separate from systemmemory 720 or computer system 700. While computer system 700 isdescribed as implementing the functionality of functional blocks ofprevious FIGs., any of the functionality described herein may beimplemented via such a computer system.

In one embodiment, I/O interface 730 may be configured to coordinate I/Otraffic between processor 710, system memory 720, and any peripheraldevices in the device, including network interface 740 or otherperipheral interfaces, such as input/output devices 750. In someembodiments, I/O interface 730 may perform any necessary protocol,timing or other data transformations to convert data signals from onecomponent (e.g., system memory 720) into a format suitable for use byanother component (e.g., processor 710). In some embodiments, I/Ointerface 730 may include support for devices attached through varioustypes of peripheral buses, such as a variant of the Peripheral ComponentInterconnect (PCI) bus standard or the Universal Serial Bus (USB)standard, for example. In some embodiments, the function of I/Ointerface 730 may be split into two or more separate components, such asa north bridge and a south bridge, for example. Also, in someembodiments some or all of the functionality of I/O interface 730, suchas an interface to system memory 720, may be incorporated directly intoprocessor 710.

Network interface 740 may be configured to allow data to be exchangedbetween computer system 700 and other devices attached to a network 785(e.g., carrier or agent devices) or between nodes of computer system700. Network 785 may in various embodiments include one or more networksincluding but not limited to Local Area Networks (LANs) (e.g., anEthernet or corporate network), Wide Area Networks (WANs) (e.g., theInternet), wireless data networks, some other electronic data network,or some combination thereof. In various embodiments, network interface740 may support communication via wired or wireless general datanetworks, such as any suitable type of Ethernet network, for example;via telecommunications/telephony networks such as analog voice networksor digital fiber communications networks; via storage area networks suchas Fibre Channel SANs, or via any other suitable type of network and/orprotocol.

Input/output devices may, in some embodiments, include one or moredisplay terminals, keyboards, keypads, touchpads, scanning devices,voice or optical recognition devices, or any other devices suitable forentering or accessing data by one or more computer systems 700. Multipleinput/output devices may be present in computer system 700 or may bedistributed on various nodes of computer system 700. In someembodiments, similar input/output devices may be separate from computersystem 700 and may interact with one or more nodes of computer system700 through a wired or wireless connection, such as over networkinterface 740.

Memory 720 may include program instructions, which may beprocessor-executable to implement any element or action described above.In one embodiment, the program instructions may implement the methodsdescribed above. In other embodiments, different elements and data maybe included. Note that data may include any data or informationdescribed above.

Those skilled in the art will appreciate that computer system 700 ismerely illustrative and is not intended to limit the scope ofembodiments. In particular, the computer system and devices may includeany combination of hardware or software that can perform the indicatedfunctions, including computers, network devices, Internet appliances,PDAs, wireless phones, pagers, etc. Computer system 700 may also beconnected to other devices that are not illustrated, or instead mayoperate as a stand-alone system. In addition, the functionality providedby the illustrated components may in some embodiments be combined infewer components or distributed in additional components. Similarly, insome embodiments, the functionality of some of the illustratedcomponents may not be provided and/or other additional functionality maybe available.

Those skilled in the art will also appreciate that, while various itemsare illustrated as being stored in memory or on storage while beingused, these items or portions of them may be transferred between memoryand other storage devices for purposes of memory management and dataintegrity. Alternatively, in other embodiments some or all of thesoftware components may execute in memory on another device andcommunicate with the illustrated computer system via inter-computercommunication. Some or all of the system components or data structuresmay also be stored (e.g., as instructions or structured data) on acomputer-accessible medium or a portable article to be read by anappropriate drive, various examples of which are described above. Insome embodiments, instructions stored on a computer-accessible mediumseparate from computer system 700 may be transmitted to computer system700 via transmission media or signals such as electrical,electromagnetic, or digital signals, conveyed via a communication mediumsuch as a network and/or a wireless link. Various embodiments mayfurther include receiving, sending or storing instructions and/or dataimplemented in accordance with the foregoing description upon acomputer-accessible medium. Generally speaking, a computer-accessiblemedium may include a non-transitory, computer-readable storage medium ormemory medium such as magnetic or optical media, e.g., disk orDVD/CD-ROM, volatile or non-volatile media such as RAM (e.g. SDRAM, DDR,RDRAM, SRAM, etc.), ROM, etc. In some embodiments, a computer-accessiblemedium may include transmission media or signals such as electrical,electromagnetic, or digital signals, conveyed via a communication mediumsuch as network and/or a wireless link.

The methods described herein may be implemented in software, hardware,or a combination thereof, in different embodiments. In addition, theorder of the blocks of the methods may be changed, and various elementsmay be added, reordered, combined, omitted, modified, etc. Variousmodifications and changes may be made as would be obvious to a personskilled in the art having the benefit of this disclosure. The variousembodiments described herein are meant to be illustrative and notlimiting. Many variations, modifications, additions, and improvementsare possible. Accordingly, plural instances may be provided forcomponents described herein as a single instance. Boundaries betweenvarious components, operations and data stores are somewhat arbitrary,and particular operations are illustrated in the context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within the scope of claims that follow. Finally,structures and functionality presented as discrete components in theexample configurations may be implemented as a combined structure orcomponent. These and other variations, modifications, additions, andimprovements may fall within the scope of embodiments as defined in theclaims that follow.

1.-15. (canceled)
 16. A non-transitory computer-readable storage mediumstoring instructions that, when executed by one or more processors,cause the one or more processors to perform operations including:sending, from a signal source, a signal to an external target, whereinthe signal comprises a radar signal or a lidar signal; receiving, fromthe external target, a reflected signal, wherein the reflected signal isreflected by one or more retroreflectors of the external target, whereinthe one or more retroreflectors are configured to have a peakreflectivity at a radar wavelength range or a lidar wavelength range;determining, based at least in part on the reflected signal, informationabout the external target.
 17. The non-transitory computer-readablestorage medium of claim 16, wherein the reflected signal includes datathat is added to the signal by one or more retroreflectors of theexternal target, wherein determining the information comprises analyzingthe added data in the reflected signal.
 18. The non-transitorycomputer-readable storage medium of claim 16, wherein determining theinformation comprises determining a pattern of the one or moreretroreflectors.
 19. The non-transitory computer-readable storage mediumof claim 18, wherein the pattern comprises a barcode pattern.
 20. Thenon-transitory computer-readable storage medium of claim 18, whereindetermining the information further comprises: searching a database ofvehicles based on the pattern; and retrieving the information from thedatabase of vehicles, wherein the information identifies the externaltarget.
 21. The non-transitory computer-readable storage medium of claim18, wherein determining the information further comprises: determiningthat the pattern represents text; and determining the information basedon the text comprising optical character recognition.
 22. Thenon-transitory computer-readable storage medium of claim 18, wherein theoperations further include determining a position and an orientation ofthe external target comprising comparing the pattern to an expectedpattern identifying the external target.
 23. A method comprising:receiving, at a plurality of retroreflectors, a signal from a signalsource, wherein the plurality retroreflectors are configured to have apeak reflectivity at a radar wavelength range or a lidar wavelengthrange; appending data to the signal based on an interference pattern ofthe plurality of retroreflectors; and sending a reflected signal basedon the signal and the appended data.
 24. The method of claim 23, whereinthe interference pattern is configured to encode a bit pattern, whereinthe data is generated based on the bit pattern.
 25. The method of claim23, further comprising: determining an inward angle of the signal to theplurality of retroreflectors; and prior to appending the data, modifyingthe data based on the inward angle.
 26. The method of claim 23, furthercomprising: determining an operating condition of a vehicle coupled tothe plurality of retroreflectors; prior to appending the data, modifyingthe data based on the operating condition.
 27. The method of claim 23,further comprising: reducing, with one or more active electricallycontrollable absorbers, reflectivity of the signal.
 28. The method ofclaim 23, wherein the appended data comprises information indicatingtext that is included on an object coupled to the plurality ofretroreflectors.
 29. A system, comprising: a signal source configured toemit a signal comprising a radar signal or a lidar signal; one or moreprocessors; and a memory storing instructions that, when executed one oracross the one or more processors, cause the one or more processors to:cause the signal source to emit the signal to an external object; inresponse to a reflected signal, wherein the reflected signal isreflected by one or more retroreflectors of the external object, whereinthe one or more retroreflectors are configured to have a peakreflectivity at a radar wavelength range or a lidar wavelength range;determine, based at least in part on the reflected signal, informationabout the external object.
 30. The system of claim 29, wherein thereflected signal includes data that is added to the signal by one ormore retroreflectors of the external object, wherein the memory furthercomprises instructions that, to determine the information, further causethe one or processors to analyze the added data in the reflected signal.31. The system of claim 29, wherein the memory further comprisesinstructions that, to determine the information, further cause the oneor processors to determine a pattern of the one or more retroreflectors.32. The system of claim 31, wherein the pattern comprises a barcodepattern.
 33. The system of claim 31, wherein the memory furthercomprises instructions that, to determine the information, further causethe one or processors to: search a database of vehicles based on thepattern; and retrieve the information from the database of vehicles,wherein the information identifies the external target.
 34. The systemof claim 31, wherein the memory further comprises instructions that, todetermine the information, further cause the one or processors to:determine that the pattern represents text; and determine theinformation based on the text comprising optical character recognition.35. The system of claim 31, wherein the memory further comprisesinstructions that further cause the one or processors to: determine aposition and an orientation of the external target comprising comparingthe pattern to an expected pattern identifying the external target.